EP3512761B1 - Device for detecting the properties of a subsurface - Google Patents

Device for detecting the properties of a subsurface Download PDF

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Publication number
EP3512761B1
EP3512761B1 EP17765436.5A EP17765436A EP3512761B1 EP 3512761 B1 EP3512761 B1 EP 3512761B1 EP 17765436 A EP17765436 A EP 17765436A EP 3512761 B1 EP3512761 B1 EP 3512761B1
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EP
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Prior art keywords
sensor
soil
accommodating section
front weight
agricultural machine
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EP17765436.5A
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German (de)
French (fr)
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EP3512761A1 (en
Inventor
Michael PREGESBAUER
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Geoprospectors GmbH
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Geoprospectors GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/10—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices using induction coils
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B76/00—Parts, details or accessories of agricultural machines or implements, not provided for in groups A01B51/00 - A01B75/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D49/00—Tractors
    • B62D49/06—Tractors adapted for multi-purpose use
    • B62D49/0621—Tractors adapted for multi-purpose use comprising traction increasing arrangements, e.g. all-wheel traction devices, multiple-axle traction arrangements, auxiliary traction increasing devices
    • B62D49/0628—Tractors adapted for multi-purpose use comprising traction increasing arrangements, e.g. all-wheel traction devices, multiple-axle traction arrangements, auxiliary traction increasing devices using detachable weights
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
    • G01N33/24—Earth materials
    • G01N33/245—Earth materials for agricultural purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/08—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices
    • G01V3/088—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation operating with magnetic or electric fields produced or modified by objects or geological structures or by detecting devices operating with electric fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V3/00—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation
    • G01V3/15—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat
    • G01V3/165—Electric or magnetic prospecting or detecting; Measuring magnetic field characteristics of the earth, e.g. declination, deviation specially adapted for use during transport, e.g. by a person, vehicle or boat operating with magnetic or electric fields produced or modified by the object or by the detecting device

Definitions

  • the invention relates to a device for detecting the nature of a subsoil, an agricultural working machine with such a device and a method for operating such an agricultural working machine.
  • EMI electromagnetic induction
  • the signals from the receiving coils result in conductivity values from which, depending on the configuration and sensitivity of the coils, the nature of the subsoil, for example the density, water saturation and soil type, can be determined at a depth of a few centimeters to several meters.
  • the EMI technology in contrast to other geophysical methods, can be used in almost all subsurface situations and is also comparatively inexpensive to purchase, it has established itself as a measurement method in site-specific agriculture (precision farming).
  • the main area of application of established systems is to laterally record soil inhomogeneities in your own measurement runs and then make them available to the farmer in the form of maps and plans.
  • motorized systems which are mounted on a mostly specially constructed trailer system and are pulled over the examination area.
  • the floor sensor is mounted behind the tractor and a large distance between the floor sensor and the tractor must be maintained in order to prevent measurement noise or other errors in data acquisition that reduce quality.
  • the object of the invention is to remedy the disadvantages of the existing systems and to implement a device for recording the condition of a subsoil and a method for operating such a device, which enable the farmer to record soil information flexibly and independently already during the agricultural work trip and also to use them simultaneously or subsequently for controlling agricultural work machines.
  • the device proposed according to the invention comprises at least one transmitter coil and at least one, preferably four, receiver coils, the transmitter coil being designed to generate an electromagnetic primary field and the receiver coil to receive the electromagnetic secondary field induced in the underground by the primary field.
  • Both the transmitter coil and the receiver coil are arranged in a front or ballast weight.
  • Such front or ballast weights are mounted on a suspension on the front of the tractor in agricultural tractors and serve on the one hand to improve the traction of the tractor and on the other hand to avoid uneven loads due to heavy loads compensate for equipment installed at the rear of the tractor. They are usually cast from concrete and weigh around one ton.
  • the transmitting and receiving coils By arranging the transmitting and receiving coils in a front weight, it is achieved that the condition of the ground can be determined even while the tractor is working. Since the front weights are usually cast from concrete, maximum protection and protection of the sensitive electronic components is also achieved. The rigid connection between the tractor and the sensor components also reduces movement-induced interference.
  • a sensor receiving area for receiving the transmitting and receiving coils and an electronics receiving area arranged spatially separated therefrom for receiving the control electronics are provided in the front weight.
  • the front weight can be dimensioned such that, in addition to the sensor functionality, it also has that weight measure in order to act as a counterweight to a tillage implement arranged in the rear.
  • An embodiment of the invention is particularly advantageous in which the sensor receiving area and electronics receiving area are separated by a shielding plate shielding electromagnetic radiation.
  • This shielding plate can preferably be a steel plate or a plate made of another electromagnetic radiation shielding material. This ensures that the transmitting and receiving coils arranged in the sensor receiving area are not influenced by disturbing electromagnetic signals, in particular by the tractor itself located in the immediate vicinity.
  • the shielding plate also provides shielding against mechanical influences.
  • a connection can also be provided in order to connect the shielding plate to an external electrical ground line.
  • the front weight has a carrier for mounting the front weight on an agricultural machine, the shielding plate being arranged between the carrier and the sensor receiving area. This ensures that the shielding plate is located between the machine and the transmitting and receiving coils when the front weight is correctly installed.
  • a preferably U-shaped and downwardly open sensor shield is arranged for receiving the transmitting and receiving coils in the sensor receiving area.
  • the sensor shield can in particular be removed from the sensor receiving area.
  • the width of the sensor receiving area or the sensor shield can correspond to the measure for the maximum transmitting and receiving coil configuration, that is to say approximately 1681 mm.
  • the sensor shield can comprise a metal or glass fiber reinforced plastic.
  • the sensor shield can preferably be provided with a connection in order to connect it to an external electrical ground line.
  • a preferably ultrasound-based distance sensor is provided for determining the distance of the device from the ground.
  • the distance sensor can preferably be provided in the lower region of the front weight.
  • the shielding plate is arranged between the sensor receiving area and the distance sensor.
  • the distance sensor is generally not affected by electromagnetic interference from the tractor, so that shielding is not necessary.
  • At least one inclination sensor is provided for determining the inclination of the device relative to the ground.
  • At least one localization module preferably a GPS module, is provided.
  • the front weight can preferably comprise concrete or be entirely cast from concrete.
  • the shielding plate can preferably be cast in.
  • a steel rod construction is cast in, which is preferably arranged in the front weight such that it lies above the sensor receiving area. This ensures that the steel rods do not affect the sensitivity of the transmitting and receiving coils.
  • Means can also be provided for connecting an external computing unit and / or an external terminal.
  • the sensor receiving area and the electronics receiving area can be connected to one another by plastic pipes, the plastic pipes being guided next to or below the shielding plate.
  • the invention further comprises an agricultural machine, in particular a tractor, comprising a device according to the invention.
  • the device according to the invention can preferably be mounted on a front linkage of the working machine.
  • a computing unit can be provided on the work machine for converting the received signals into electrical conductivity values and soil parameters, for example density, moisture and soil type. Furthermore, control outputs for controlling external soil cultivation devices can be provided on the working machine. The control outputs can preferably be arranged in the rear area of the working machine, so that a direct control of soil cultivation devices arranged in the rear area of the working machine is made possible on the basis of the ground condition detected during a work trip.
  • the invention further comprises a method for operating an agricultural working machine according to the invention, the soil parameters of the soil section currently to be worked being detected while the working machine is traveling.
  • the device can preferably be moved by the work machine at a maximum speed of 15 km / h over the subsurface to be examined during the work trips, the detected condition of the subsurface, for example the type of soil, being used directly to control tillage equipment installed in the rear area of the work machine .
  • the plastic tubes 6 are guided past the shielding plate 7 in order not to cause an asymmetrical shielding effect.
  • steel rods 9 are arranged in the concrete filling. These are located above the sensor receiving area 2 in order not to influence the transmit and receive signals. Also shown in this figure is a separate and preferably sensor shield 10, which is inserted into the sensor receiving area 2 and is preferably removable so that the floor sensor can also be used without the front weight 1.

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  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Geology (AREA)
  • Environmental & Geological Engineering (AREA)
  • General Life Sciences & Earth Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Geophysics (AREA)
  • Electromagnetism (AREA)
  • Health & Medical Sciences (AREA)
  • Mechanical Engineering (AREA)
  • General Health & Medical Sciences (AREA)
  • Biochemistry (AREA)
  • Pathology (AREA)
  • Environmental Sciences (AREA)
  • Food Science & Technology (AREA)
  • Medicinal Chemistry (AREA)
  • Analytical Chemistry (AREA)
  • Immunology (AREA)
  • Soil Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Soil Working Implements (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Geophysics And Detection Of Objects (AREA)
  • Agricultural Machines (AREA)

Description

Die Erfindung betrifft eine Vorrichtung zur Erfassung der Beschaffenheit eines Untergrunds, eine landwirtschaftliche Arbeitsmaschine mit einer derartigen Vorrichtung sowie ein Verfahren zum Betrieb einer derartigen landwirtschaftlichen Arbeitsmaschine.The invention relates to a device for detecting the nature of a subsoil, an agricultural working machine with such a device and a method for operating such an agricultural working machine.

Aus dem Stand der Technik im Bereich der Geophysik ist es bekannt, Bodensensoren einzusetzen, welche auf Basis elektromagnetischer Induktion (EMI) die Beschaffenheit eines Untergrunds detektieren. Dabei wird von einer elektromagnetischen Sendespule ein Primärfeld erzeugt, welches im Untergrund in Abhängigkeit von der Bodenbeschaffenheit ein elektromagnetisches Sekundärfeld induziert, welches durch eine oder mehrere Empfangsspulen im Oberflächenbereich aufgenommen und ausgewertet wird.It is known from the prior art in the field of geophysics to use ground sensors which detect the nature of a subsurface on the basis of electromagnetic induction (EMI). Here, a primary field is generated by an electromagnetic transmitter coil, which induces an electromagnetic secondary field in the subsurface depending on the nature of the ground, which is recorded and evaluated by one or more receiving coils in the surface area.

Aus den Signalen der Empfangsspulen ergeben sich Leitfähigkeitswerte, aus denen, je nach der Konfiguration und Empfindlichkeit der Spulen, die Beschaffenheit des Untergrunds, beispielsweise die Dichte, die Wassersättigung und die Bodenart, in einer Tiefe von wenigen Zentimetern bis mehreren Metern bestimmt werden kann.The signals from the receiving coils result in conductivity values from which, depending on the configuration and sensitivity of the coils, the nature of the subsoil, for example the density, water saturation and soil type, can be determined at a depth of a few centimeters to several meters.

Da die EMI Technologie im Gegensatz zu anderen geophysikalischen Methoden bei nahezu allen Untergrundsituationen einsetzbar ist und auch vergleichsweise kostengünstig in der Anschaffung ist, hat sie sich als Messmethode in der teilflächenspezifischen Landwirtschaft (Precision Farming) etabliert. Der Hauptanwendungsbereich etablierter Systeme ist es, Bodeninhomogenitäten in eigenen Messfahrten lateral zu erfassen und danach dem Landwirt in Form von Karten und Plänen zur Verfügung zu stellen.Since the EMI technology, in contrast to other geophysical methods, can be used in almost all subsurface situations and is also comparatively inexpensive to purchase, it has established itself as a measurement method in site-specific agriculture (precision farming). The main area of application of established systems is to laterally record soil inhomogeneities in your own measurement runs and then make them available to the farmer in the form of maps and plans.

Dabei werden zum Teil motorisierte Systeme eingesetzt, die auf einem zumeist eigens konstruierten Anhängesystem montiert werden und über die Untersuchungsfläche gezogen werden. Der Bodensensor wird dabei hinter der Zugmaschine montiert und es muss ein großer Abstand des Bodensensors zum Zugfahrzeug eingehalten werden, um ein die Qualität minderndes Messrauschen oder sonstige Fehler bei der Datenerfassung möglichst zu verhindern.In some cases, motorized systems are used, which are mounted on a mostly specially constructed trailer system and are pulled over the examination area. The floor sensor is mounted behind the tractor and a large distance between the floor sensor and the tractor must be maintained in order to prevent measurement noise or other errors in data acquisition that reduce quality.

Beim operativen Betrieb bekannter Bodensensoren findet die Datenerfassung unabhängig von Bewirtschaftungsfahrten des Landwirts statt, da der Betrieb des Systems und die Auswertung der Daten Fachpersonal erfordert. Von der Datenaufnahme bis zur Lieferung der Karten mit den ausgewerteten Bodendaten läuft somit ein komplexer Prozess ab, in den der Landwirt nicht eingebunden wird.In the operational operation of known soil sensors, data acquisition takes place independently of the farmer's farming trips, since the operation of the system and the evaluation of the data require specialist personnel. From the data acquisition to the delivery of the maps with the evaluated soil data, a complex process takes place, in which the farmer is not involved.

Aus der WO 2015/164791 A1 ist es bekannt, Bodenanalysatoren, welche auf verschiedenen Detektionsprinzipien basieren, am Vorderteil einer landwirtschaftlichen Arbeitsmaschine zu positionieren, um in einem Arbeitsgang eine Bodenanalyse und eine Bodenbearbeitung durchzuführen, wobei die Bearbeitung in Abhängigkeit von den gemessenen Daten erfolgen kann.From the WO 2015/164791 A1 It is known to position soil analyzers, which are based on different detection principles, on the front part of an agricultural working machine in order to carry out a soil analysis and a tillage in one operation, which can be carried out as a function of the measured data.

Aufgabe der Erfindung ist es, die Nachteile der bestehenden Systeme zu beheben und eine Vorrichtung zur Erfassung der Beschaffenheit eines Untergrunds sowie ein Verfahren zum Betrieb einer derartigen Vorrichtung zu realisieren, welche es dem Landwirt ermöglichen, flexibel und unabhängig bereits während der landwirtschaftlichen Arbeitsfahrt Bodeninformationen zu erfassen und diese auch gleichzeitig oder anschließend für eine Steuerung landwirtschaftlicher Arbeitsmaschinen zu verwenden.The object of the invention is to remedy the disadvantages of the existing systems and to implement a device for recording the condition of a subsoil and a method for operating such a device, which enable the farmer to record soil information flexibly and independently already during the agricultural work trip and also to use them simultaneously or subsequently for controlling agricultural work machines.

Diese Aufgabe wird erfindungsgemäß durch eine Vorrichtung, eine landwirtschaftliche Arbeitsmaschine und ein Verfahren zum Betrieb einer landwirtschaftlichen Arbeitsmaschine gemäß den unabhängigen Patentansprüchen gelöst.This object is achieved according to the invention by a device, an agricultural working machine and a method for operating an agricultural working machine according to the independent patent claims.

Die erfindungsgemäß vorgeschlagene Vorrichtung umfasst zumindest eine Sendespule und zumindest eine, vorzugsweise vier, Empfangsspulen, wobei die Sendespule zur Erzeugung eines elektromagnetischen Primärfelds und die Empfangsspule zum Empfangen des im Untergrund durch das Primärfeld induzierten elektromagnetischen Sekundärfelds eingerichtet ist. Sowohl die Sendespule als auch die Empfangsspule sind in einem Front- oder Ballastgewicht angeordnet. Derartige Front- oder Ballastgewichte werden bei landwirtschaftlichen Zugmaschinen an einer Aufhängung an der Vorderseite der Zugmaschine montiert und dienen einerseits zur Verbesserung der Traktion der Zugmaschine und andererseits, um ungleiche Belastung durch schwere am Heck der Zugmaschine montierte Geräte auszugleichen. Sie sind in der Regel aus Beton gegossen und weisen ein Gewicht von etwa einer Tonne auf.The device proposed according to the invention comprises at least one transmitter coil and at least one, preferably four, receiver coils, the transmitter coil being designed to generate an electromagnetic primary field and the receiver coil to receive the electromagnetic secondary field induced in the underground by the primary field. Both the transmitter coil and the receiver coil are arranged in a front or ballast weight. Such front or ballast weights are mounted on a suspension on the front of the tractor in agricultural tractors and serve on the one hand to improve the traction of the tractor and on the other hand to avoid uneven loads due to heavy loads compensate for equipment installed at the rear of the tractor. They are usually cast from concrete and weigh around one ton.

Durch Anordnung der Sende- und Empfangsspule in einem Frontgewicht wird erreicht, dass die Erfassung der Beschaffenheit des Untergrunds bereits während einer Arbeitsfahrt der Zugmaschine erledigt werden kann. Da die Frontgewichte in der Regel aus Beton gegossen werden, wird auch maximale Schonung und Schutz der sensiblen elektronischen Bauteile erreicht. Die starre Verbindung zwischen der Zugmaschine und den Sensorbauteilen reduziert darüber hinaus bewegungsinduzierte Störungen.By arranging the transmitting and receiving coils in a front weight, it is achieved that the condition of the ground can be determined even while the tractor is working. Since the front weights are usually cast from concrete, maximum protection and protection of the sensitive electronic components is also achieved. The rigid connection between the tractor and the sensor components also reduces movement-induced interference.

Erfindungsgemäß ist vorgesehen, dass im Frontgewicht ein Sensoraufnahmebereich zur Aufnahme der Sende- und Empfangsspulen und ein davon räumlich getrennt angeordneter Elektronikaufnahmebereich zur Aufnahme der Steuerelektronik vorgesehen sind. Dies hat den Vorteil, dass die Sende- und Empfangsspulen an speziellen Bereichen des Frontgewichts, vorzugsweise im vorderen unteren Bereich, angeordnet werden können.According to the invention, it is provided that a sensor receiving area for receiving the transmitting and receiving coils and an electronics receiving area arranged spatially separated therefrom for receiving the control electronics are provided in the front weight. This has the advantage that the transmitting and receiving coils can be arranged on special areas of the front weight, preferably in the lower front area.

Das Frontgewicht kann erfindungsgemäß so dimensioniert werden, dass es neben der Sensorfunktionalität auch jenes Gewichtsmaß aufweist, um als Gegengewicht zu einem im Heck angeordneten Bodenbearbeitungsgerät zu fungieren.According to the invention, the front weight can be dimensioned such that, in addition to the sensor functionality, it also has that weight measure in order to act as a counterweight to a tillage implement arranged in the rear.

Besonders vorteilhaft ist eine Ausführungsform der Erfindung, bei der der Sensoraufnahmebereich und Elektronikaufnahmebereich durch eine elektromagnetische Strahlen abschirmende Abschirmplatte getrennt sind. Bei dieser Abschirmplatte kann es sich vorzugsweise um eine Stahlplatte oder um eine Platte aus einem anderen elektromagnetische Strahlen abschirmenden Material handeln. Dadurch wird gewährleistet, dass die im Sensoraufnahmebereich angeordneten Sende- und Empfangsspulen nicht durch störende elektromagnetische Signale, insbesondere von der in unmittelbarer Nähe befindlichen Zugmaschine selbst, beeinflusst wird. Darüber hinaus wird durch die Abschirmplatte auch eine Abschirmung gegen mechanische Einflüsse erzielt. Erfindungsgemäß kann auch ein Anschluss vorgesehen sein, um die Abschirmplatte mit einer externen elektrischen Erdungsleitung zu verbinden. Erfindungsgemäß kann vorgesehen sein, dass das Frontgewicht einen Träger zur Montage des Frontgewichts an einer landwirtschaftlichen Arbeitsmaschine aufweist, wobei die Abschirmplatte zwischen dem Träger und dem Sensoraufnahmebereich angeordnet ist. Dadurch wird sichergestellt, dass sich bei korrekter Montage des Frontgewichts die Abschirmplatte zwischen der Arbeitsmaschine und den Sende- und Empfangsspulen befindet.An embodiment of the invention is particularly advantageous in which the sensor receiving area and electronics receiving area are separated by a shielding plate shielding electromagnetic radiation. This shielding plate can preferably be a steel plate or a plate made of another electromagnetic radiation shielding material. This ensures that the transmitting and receiving coils arranged in the sensor receiving area are not influenced by disturbing electromagnetic signals, in particular by the tractor itself located in the immediate vicinity. In addition, the shielding plate also provides shielding against mechanical influences. According to the invention, a connection can also be provided in order to connect the shielding plate to an external electrical ground line. According to the invention, it can be provided that the front weight has a carrier for mounting the front weight on an agricultural machine, the shielding plate being arranged between the carrier and the sensor receiving area. This ensures that the shielding plate is located between the machine and the transmitting and receiving coils when the front weight is correctly installed.

Erfindungsgemäß kann vorgesehen sein, dass zur Aufnahme der Sende- und Empfangsspulen im Sensoraufnahmebereich eine vorzugsweise U-förmige und nach unten offene Sensorabschirmung angeordnet ist. Die Sensorabschirmung kann insbesondere aus dem Sensoraufnahmebereich entnehmbar sein. Dies ermöglicht die Ausführung der erfindungsgemäßen Vorrichtung als modulares System: Die Sensorkomponenten können in das Frontgewicht eingebaut und aus diesem entfernt werden, sodass auch eine Nutzung der Sensorkomponenten ohne das Frontgewicht möglich ist.According to the invention it can be provided that a preferably U-shaped and downwardly open sensor shield is arranged for receiving the transmitting and receiving coils in the sensor receiving area. The sensor shield can in particular be removed from the sensor receiving area. This enables the device according to the invention to be designed as a modular system: the sensor components can be built into the front weight and removed therefrom, so that the sensor components can also be used without the front weight.

Die Breite des Sensoraufnahmebereichs bzw. der Sensorabschirmung kann zur Aufnahme der Sensorkomponenten dem Maß für die maximale Sende- und Empfangsspulenkonfiguration entsprechen, also etwa 1681 mm aufweisen.To accommodate the sensor components, the width of the sensor receiving area or the sensor shield can correspond to the measure for the maximum transmitting and receiving coil configuration, that is to say approximately 1681 mm.

Die Sensorabschirmung kann ein Metall oder glasfaserverstärkten Kunststoff umfassen. Die Sensorabschirmung kann vorzugsweise mit einem Anschluss versehen sein, um sie mit einer externen elektrischen Erdungsleitung zu verbinden.The sensor shield can comprise a metal or glass fiber reinforced plastic. The sensor shield can preferably be provided with a connection in order to connect it to an external electrical ground line.

Erfindungsgemäß kann vorgesehen sein, dass ein vorzugsweise ultraschallbasierter Abstandssensor zur Bestimmung des Abstandes der Vorrichtung zum Untergrund vorgesehen ist. Der Abstandssensor kann vorzugsweise im unteren Bereich des Frontgewichts vorgesehen sein.According to the invention it can be provided that a preferably ultrasound-based distance sensor is provided for determining the distance of the device from the ground. The distance sensor can preferably be provided in the lower region of the front weight.

Erfindungsgemäß kann insbesondere vorgesehen sein, dass die Abschirmplatte zwischen dem Sensoraufnahmebereich und dem Abstandssensor angeordnet ist. Im Unterschied zu den Sende- und Empfangsspulen wird der Abstandssensor in der Regel durch elektromagnetische Störungen der Zugmaschine nicht beeinflusst, sodass eine Abschirmung nicht erforderlich ist.According to the invention, it can in particular be provided that the shielding plate is arranged between the sensor receiving area and the distance sensor. In contrast to the transmitting and receiving coils, the distance sensor is generally not affected by electromagnetic interference from the tractor, so that shielding is not necessary.

Erfindungsgemäß kann vorgesehen sein, dass zumindest ein Neigungssensor zur Bestimmung der Neigung der Vorrichtung relativ zum Untergrund vorgesehen ist.According to the invention it can be provided that at least one inclination sensor is provided for determining the inclination of the device relative to the ground.

Erfindungsgemäß kann vorgesehen sein, dass zumindest ein Lokalisierungsmodul, vorzugsweise ein GPS-Modul, vorgesehen ist.According to the invention it can be provided that at least one localization module, preferably a GPS module, is provided.

Das Frontgewicht kann vorzugsweise Beton umfassen oder zur Gänze aus Beton gegossen sein. Dabei kann die Abschirmplatte vorzugsweise eingegossen sein. Weiters kann vorgesehen sein, dass zur Gewährleistung der mechanischen Stabilität des Frontgewichts eine Stahlstangenkonstruktion eingegossen ist, die vorzugsweise derart im Frontgewicht angeordnet ist, dass sie über dem Sensoraufnahmebereich liegt. Dadurch wird gewährleistet, dass die Stahlstangen die Sensitivität der Sende- und Empfangsspulen nicht beeinflussen.The front weight can preferably comprise concrete or be entirely cast from concrete. The shielding plate can preferably be cast in. Furthermore, it can be provided that to ensure the mechanical stability of the front weight, a steel rod construction is cast in, which is preferably arranged in the front weight such that it lies above the sensor receiving area. This ensures that the steel rods do not affect the sensitivity of the transmitting and receiving coils.

Weiters können Mittel zum Anschluss einer externen Recheneinheit und/oder eines externen Terminals vorgesehen sein. Der Sensoraufnahmebereich und der Elektronikaufnahmebereich können durch Kunststoffrohre miteinander verbunden sein, wobei die Kunststoffrohre neben oder unter der Abschirmplatte geführt sind.Means can also be provided for connecting an external computing unit and / or an external terminal. The sensor receiving area and the electronics receiving area can be connected to one another by plastic pipes, the plastic pipes being guided next to or below the shielding plate.

Die Erfindung umfasst weiters eine landwirtschaftliche Arbeitsmaschine, insbesondere eine Zugmaschine, umfassend eine erfindungsgemäße Vorrichtung. Die erfindungsgemäße Vorrichtung kann vorzugsweise an einem Fronthubwerk der Arbeitsmaschine montiert sein.The invention further comprises an agricultural machine, in particular a tractor, comprising a device according to the invention. The device according to the invention can preferably be mounted on a front linkage of the working machine.

Auf der Arbeitsmaschine kann eine Recheneinheit zur Umrechnung der empfangenen Signale in elektrische Leitfähigkeitswerte und Bodenparameter, beispielsweise Dichte, Feuchtigkeit und Bodenart, vorgesehen sein. Weiters können an der Arbeitsmaschine Steuerausgänge zur Ansteuerung externer Bodenbearbeitungsgeräte vorgesehen sein. Die Steuerausgänge können vorzugsweise im Heckbereich der Arbeitsmaschine angeordnet sein, sodass eine unmittelbare Ansteuerung von im Heckbereich der Arbeitsmaschine angeordneten Bodenbearbeitungsgeräten auf Grundlage der während einer Arbeitsfahrt detektierten Bodenbeschaffenheit ermöglicht wird.A computing unit can be provided on the work machine for converting the received signals into electrical conductivity values and soil parameters, for example density, moisture and soil type. Furthermore, control outputs for controlling external soil cultivation devices can be provided on the working machine. The control outputs can preferably be arranged in the rear area of the working machine, so that a direct control of soil cultivation devices arranged in the rear area of the working machine is made possible on the basis of the ground condition detected during a work trip.

Die Erfindung umfasst weiters ein Verfahren zum Betrieb einer erfindungsgemäßen landwirtschaftlichen Arbeitsmaschine, wobei während einer Arbeitsfahrt der Arbeitsmaschine die Bodenparameter des aktuell zu bearbeitenden Bodenabschnittes detektiert werden.The invention further comprises a method for operating an agricultural working machine according to the invention, the soil parameters of the soil section currently to be worked being detected while the working machine is traveling.

Die Vorrichtung kann vorzugsweise während der Arbeitsfahrten von der Arbeitsmaschine in einer Geschwindigkeit von maximal 15 km/h über den zu untersuchenden Untergrund bewegt werden, wobei die detektierte Beschaffenheit des Untergrunds, beispielsweise die Bodenart, unmittelbar zur Steuerung von im Heckbereich der Arbeitsmaschine montierten Bodenbearbeitungsgeräten verwendet wird.The device can preferably be moved by the work machine at a maximum speed of 15 km / h over the subsurface to be examined during the work trips, the detected condition of the subsurface, for example the type of soil, being used directly to control tillage equipment installed in the rear area of the work machine .

Weitere erfindungsgemäße Merkmale ergeben sich aus den Patentansprüchen, der Beschreibung der Ausführungsbeispiele und den Figuren. Die Erfindung wird im Folgenden an einem nicht ausschließlichen Ausführungsbeispiel näher erläutert.

  • Fig. 1 zeigt schematisch einen Traktor 14 mit einem Frontgewicht 1, das eine Betonfüllung 11 aufweist und an einer Halterung im Frontbereich des Traktors 14 angeordnet ist. Bei der Halterung kann es sich insbesondere um ein an der Arbeitsmaschine vorgesehenes Fronthubwerk handeln. Im Frontgewicht 1 sind Sende- und Empfangsspulen in einem U-förmigen, nach unten offenen Sensoraufnahmebereich 2 angeordnet. Die Sende- und Empfangsspulen bestimmen die Beschaffenheit des Untergrundes und übermitteln entsprechende Daten über eine, in einem seitlich offenen Elektronikaufnahmebereich 3 angeordnete Elektronikeinheit an eine zentrale Steuereinheit im Traktor 14. Weiters sind Steuerleitungen 15 von der zentralen Steuereinheit im Traktor 14 an das Heck des Traktors vorgesehen, über die Geräte zur Bodenbearbeitung gesteuert werden können. Weiters ist im unteren Bereich des Frontgewichts 1 ein ultraschallbasierter Abstandssensor 8 vorgesehen. Um zu verhindern, dass elektromagnetische Signale der Elektronikeinheit oder des Traktors 14 die von den Sende- und Empfangsspulen gesendeten und empfangenen Messgrößen stören, ist eine metallische Abschirmplatte 7 im Frontgewicht 1 derart angeordnet, dass sie den Sensoraufnahmebereich 2 vom Elektronikaufnahmebereich 3 trennt.
  • Fig. 2 zeigt eine dreidimensionale Ansicht eines Ausführungsbeispiels einer erfindungsgemäßen Vorrichtung in einem Frontgewicht 1 einer landwirtschaftlichen Arbeitsmaschine. Die Vorrichtung umfasst eine Sende- und eine Empfangsspule, wobei die Sendespule zur Erzeugung eines elektromagnetischen Primärfelds und die Empfangsspule zum Empfangen des im Untergrund durch das Primärfeld induzierten elektromagnetischen Sekundärfelds eingerichtet ist. Die Sende- und Empfangsspule ist in einem Sensoraufnahmebereich 2 in einem Frontgewicht 1 mit Betonfüllung 11 für eine landwirtschaftliche Arbeitsmaschine angeordnet. Aus Gründen der Übersichtlichkeit ist die Sende- und Empfangsspule in Fig. 2 nicht dargestellt.
    Der Sensoraufnahmebereich 2 ist im unteren Bereich des Frontgewichts 1 vorgesehen, U-förmig und nach außen offen. Räumlich getrennt davon ist ein Elektronikaufnahmebereich 3 vorgesehen, der ebenfalls nach außen offen ist. Im Elektronikaufnahmebereich 3 ist eine erste Öffnung 12 und eine zweite Öffnung 13 vorgesehen, welche zur Verbindung der Elektronikeinheiten mit den Sende- und Empfangsspulen und dem (nicht dargestellten) Distanzsensor 8 dienen. Weiters sind im Frontgewicht 1 in herkömmlicher Weise ein Träger 4 sowie Fanghaken 5 angeordnet, um das Frontgewicht 1 an einem Fronthubwerk einer landwirtschaftlichen Arbeitsmaschine, insbesondere eines Traktors, anzubringen.
  • Fig. 3 zeigt eine schematische Ansicht des Frontgewichts 1, wobei die Betonfüllung 11 entfernt wurde. Im Inneren der Betonfüllung 11 finden sich Kunststoffrohre 6, welche den Sensoraufnahmebereich 2 mit dem Elektronikaufnahmebereich 3, und den Elektronikaufnahmebereich 3 mit einem Distanzsensor 8 verbinden. Der Distanzsensor 8 ist vom Sensoraufnahmebereich 2 räumlich getrennt angeordnet, um zu verhindern, dass die Messung durch den Distanzsensor 8 gestört oder beeinflusst wird. Zu diesem Zweck sind auch die Kunststoffrohre 6, wie ersichtlich, um die (nicht dargestellte) Abschirmplatte 7 herum geführt.
  • Fig. 4 zeigt eine schematische Ansicht des Frontgewichts 1 mit Darstellung der in der Betonfüllung integrierten Abschirmplatte 7 in Form einer Stahlplatte. Die Stahlplatte trennt den Sensoraufnahmebereich 2 von den anderen elektrischen und elektronischen Komponenten im Frontgewicht 1, und schützt den Sensoraufnahmebereich 2 insbesondere auch vor elektromagnetischen Einflüssen der Arbeitsmaschine selbst.
Further features according to the invention result from the patent claims, the description of the exemplary embodiments and the figures. The invention is explained in more detail below using a non-exclusive embodiment.
  • Fig. 1 schematically shows a tractor 14 with a front weight 1, which has a concrete filling 11 and is arranged on a holder in the front region of the tractor 14. The holder can in particular be a front linkage provided on the working machine. In the front weight 1, transmitting and receiving coils are arranged in a U-shaped sensor receiving area 2 that is open at the bottom. The transmitting and receiving coils determine the nature of the ground and transmit corresponding data via an electronic unit arranged in a laterally open electronics receiving area 3 to a central control unit in the tractor 14. Furthermore, control lines 15 are provided from the central control unit in the tractor 14 to the rear of the tractor that can be used to control tillage equipment. Furthermore, an ultrasound-based distance sensor 8 is provided in the lower region of the front weight 1. In order to prevent electromagnetic signals from the electronics unit or the tractor 14 from interfering with the measured variables sent and received by the transmitting and receiving coils, a metallic shielding plate 7 is arranged in the front weight 1 in such a way that it separates the sensor receiving area 2 from the electronics receiving area 3.
  • Fig. 2 shows a three-dimensional view of an embodiment of a device according to the invention in a front weight 1 of an agricultural machine. The device comprises a transmitting and a receiving coil, the transmitting coil being designed to generate an electromagnetic primary field and the receiving coil being designed to receive the electromagnetic secondary field induced in the underground by the primary field. The transmitting and receiving coil is arranged in a sensor receiving area 2 in a front weight 1 with a concrete filling 11 for an agricultural machine. For reasons of clarity, the transmitting and receiving coil is in Fig. 2 not shown.
    The sensor receiving area 2 is provided in the lower area of the front weight 1, U-shaped and open to the outside. Separately from this, an electronics receiving area 3 is provided, which is also open to the outside. In the electronics receiving area 3, a first opening 12 and a second opening 13 are provided, which are used to connect the electronics units to the transmitting and receiving coils and the distance sensor 8 (not shown). Furthermore, a carrier 4 and catch hooks 5 are arranged in a conventional manner in the front weight 1 in order to attach the front weight 1 to a front linkage of an agricultural working machine, in particular a tractor.
  • Fig. 3 shows a schematic view of the front weight 1, wherein the concrete filling 11 has been removed. Inside the concrete filling 11 there are plastic pipes 6 which connect the sensor receiving area 2 to the electronics receiving area 3 and the electronics receiving area 3 to a distance sensor 8. The distance sensor 8 is arranged spatially separated from the sensor receiving area 2 in order to prevent the measurement from being disturbed or influenced by the distance sensor 8. For this purpose, the plastic tubes 6, as can be seen, are guided around the shielding plate 7 (not shown).
  • Fig. 4 shows a schematic view of the front weight 1 showing the shielding plate 7 integrated in the concrete filling in the form of a steel plate. The steel plate separates the sensor receiving area 2 from the other electrical and electronic components in the front weight 1, and in particular also protects the sensor receiving area 2 from electromagnetic influences of the working machine itself.

Die Kunststoffrohre 6 sind zu diesem Zweck an der Abschirmplatte 7 vorbeigeführt, um keine asymmetrische Abschirmwirkung zu verursachen. Zur Erhöhung der Stabilität des Frontgewichts 1 sind in der Betonfüllung 11 Stahlstangen 9 angeordnet. Diese befinden sich über dem Sensoraufnahmebereich 2, um die Sende- und Empfangssignale nicht zu beeinflussen. Weiters dargestellt ist in dieser Figur eine separate und vorzugsweise Sensorabschirmung 10, welche in den Sensoraufnahmebereich 2 eingeführt ist und vorzugsweise entnehmbar ist, um den Bodensensor auch ohne das Frontgewicht 1 benutzen zu können.For this purpose, the plastic tubes 6 are guided past the shielding plate 7 in order not to cause an asymmetrical shielding effect. To increase the stability of the front weight 1 11 steel rods 9 are arranged in the concrete filling. These are located above the sensor receiving area 2 in order not to influence the transmit and receive signals. Also shown in this figure is a separate and preferably sensor shield 10, which is inserted into the sensor receiving area 2 and is preferably removable so that the floor sensor can also be used without the front weight 1.

Die Erfindung beschränkt sich nicht auf die im konkreten Ausführungsbeispiel gezeigten Merkmale sondern umfasst sämtliche Vorrichtungen und Verfahren im Rahmen der nachfolgenden Patentansprüche.The invention is not limited to the features shown in the specific exemplary embodiment but includes all devices and methods within the scope of the following claims.

BezugszeichenlisteReference list

11
FrontgewichtFront weight
22nd
SensoraufnahmebereichSensor receiving area
33rd
ElektronikaufnahmebereichElectronics recording area
44th
Trägercarrier
55
FanghakenCatch hook
66
KunststoffrohrePlastic pipes
77
AbschirmplatteShielding plate
88th
AbstandssensorDistance sensor
99
StahlstangenSteel bars
1010th
SensorabschirmungSensor shielding
1111
BetonfüllungConcrete filling
1212th
Erste ÖffnungFirst opening
1313
Zweite ÖffnungSecond opening
1414
Traktortractor
1515
SteuerleitungControl line

Claims (15)

  1. A device, in particular a soil sensor, for detecting the condition of a ground, wherein the soil sensor comprises at least one transmitter coil and at least one, preferably four, receiver coil(s), wherein the transmitter coil is configured to generate an electromagnetic primary field and the receiver coil is configured to receive the electromagnetic secondary field induced in the ground by the primary field, characterized in that the transmitter coil and the receiver coil are arranged in a front weight (1) for an agricultural machine, and in that in the front weight (1) a sensor accommodating section (2) for accommodating the transmitter and receiver coils and a spatially separated electronics accommodating section (3) for accommodating the control electronics are provided, wherein the sensor accommodating section (2) and the electronics accommodating section (3) are separated by a screening plate (7) which preferably comprises steel and screens from electromagnetic radiation.
  2. The device according to claim 1, characterized in that a connector is provided for connecting the screening plate (7) to an external electrical ground line.
  3. The device according to one of claims 1 or 2, characterized in that the front weight (1) has a beam (4) for mounting the front weight (1) on an agricultural machine, wherein the screening plate (7) is arranged between the beam (4) and the sensor accommodating section (2).
  4. The device according to one of claims 1 to 3, characterized in that the transmitter and receiver coils are arranged in the sensor accommodating section (2) in a preferably U-shaped and downwardly open, preferably removable sensor screen (10), wherein the sensor screen (10) is preferably provided with a connector for connecting it to an external electrical ground line.
  5. The device according to one of claims 1 to 4, characterized in that a preferably ultrasound based distance sensor (8) is provided to determine the distance of the device to the ground.
  6. The device according to one of claims 1 to 5, characterized in that at least one inclination sensor is provided to determine the inclination of the device relative to the ground.
  7. The device according to one of claims 1 to 6, characterized in that at least one localisation module, preferably a GPS module, is provided.
  8. The device according to one of claims 1 to 7, characterized in that for guaranteeing the mechanical stability a steel bar structure is provided that is preferably arranged in the front weight (1) in such a way that it is arranged above the sensor accommodating section (2).
  9. The device according to one of claims 1 to 8, characterized in that means for connecting an external computing unit and/or an external terminal are provided.
  10. The device according to one of claims 1 to 9, characterized in that the sensor accommodating section (2) and the electronics accommodating section (3) are connected to each other by plastic pipes (6), wherein the plastic pipes are guided next to or beneath the screening plate (7).
  11. An agricultural machine, in particular a tractor, comprising a device according to one of claims 1 to 10.
  12. The agricultural machine according to claim 11, characterized in that a computing unit is provided for converting the received signals into electrical conductivity values and soil parameters, for example density, moisture and soil type.
  13. The agricultural machine according to one of claims 11 or 12, characterized in that the front weight (1) is mounted on a front lifting gear of the machine.
  14. The agricultural machine according to one of claims 11 to 13, characterized in that control outputs for controlling external soil cultivation devices are provided on the machine.
  15. A method for operating an agricultural machine according to one of claims 11 to 14, characterized in that the soil parameters of the soil section currently to be worked are detected during a work run of the machine.
EP17765436.5A 2016-09-13 2017-09-13 Device for detecting the properties of a subsurface Active EP3512761B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ATA50816/2016A AT518415B1 (en) 2016-09-13 2016-09-13 Device for detecting the condition of a substrate
PCT/EP2017/072966 WO2018050665A1 (en) 2016-09-13 2017-09-13 Device for detecting the properties of a subsurface

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EP3512761A1 EP3512761A1 (en) 2019-07-24
EP3512761B1 true EP3512761B1 (en) 2020-07-08

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AT (1) AT518415B1 (en)
WO (1) WO2018050665A1 (en)

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AT518415A4 (en) 2017-10-15
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EP3512761A1 (en) 2019-07-24

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